We implemented Tensor Regulators so that the servo motors of our JetRacer and our Raspberry Pi have the neccesary Voltage to function properly.

Project Structure

Communication Structure

The Jetson communicates with the Raspberry via mqtt, with a Cloud Broker (HiveMQ) and a local Broker. We chose mqtt since its latency is pretty small, and it seems to get the job done well. The Raspberry is the one to display the information in the LCD, with informations of Jetson's temperature and battery, and also information of the speed directly from the speed sensor, with arduino via CAN.

Communication Structure

CAN Communication: Raspberry Pi and Arduino

This project demonstrates how to establish a CAN (Controller Area Network) communication between an Arduino and a Raspberry Pi. The Arduino reads speed data from a sensor, calculates the speed, and sends it to the Raspberry Pi over a CAN bus using an MCP2515 CAN module. The Raspberry Pi processes and displays the received data using Python.

Overview

Controller Area Network (CAN) is a robust communication protocol commonly used in automotive and industrial applications. This project involves: Using an Arduino to send speed data via a CAN bus. Configuring a Raspberry Pi to receive and process the data using Python.

Hardware Requirements

• Arduino Uno/Nano/Mega or similar.
• Raspberry Pi (any version with SPI support, e.g., Raspberry Pi 4).
• MCP2515 CAN Module (two units: one for the Arduino and one for the Raspberry Pi).

- Speed sensor (connected to Arduino).

Raspberry Pi to MCP2515 CAN Module Connection

Arduino Setup

1. Install the MCP_CAN library in the Arduino IDE:
   • Go to Sketch > Include Library > Manage Libraries.
   • Search for MCP_CAN, CAN-BUS Shield and install it.
2. Upload the Arduino code (provided in our arduino directory).
3. Connect the speed sensor to the Arduino and verify it calculates speed correctly.

Raspberry Pi Setup

(https://forums.raspberrypi.com/viewtopic.php?t=353451)